Static Force Analysis of an Omnidirectional Mobile Robot with Wheels Connected by Passive Sliding Joints

Abstract

To solve problems of conventional mobile robots, such as limited mobility and complicated structure, we proposed an omnidirectional mobile robot named slidable-wheeled omnidirectional mobile robot (SWOM). SWOM has three wheels connected by passive sliding joints. The relative movements of the wheels enable SWOM to make an omnidirectional movement. The wheels of SWOM are all normal wheels, so SWOM establishes both superb mobility and a simple structure. In the movement of SWOM, the steering angles and the relative positions of the wheels are varied, which can affect the motion characteristics of SWOM. This paper attempts to evaluate such effects quantitatively based on the statics. This paper describes the structure and movement of SWOM first. Then, a static force analysis is carried out and the characteristics of the input-output relation are discussed considering the situations under the driving force limitation and the friction force limitation. Through the analysis, the conditions that SWOM can gain large output force are clarified.